会议专题

A Prioritized Path Planning Algorithm for MMRS

  For multiple mobile robot system (MMRS),a practical path planning method needs to handle both the collision-free constraint and the kinematic constraint of the robot,the latter of which is neglected by most of the path planning methods.In this paper,we present a prioritized path planning algorithm for MMRS under dynamic environment with the least path length constraint.In this algorithm each robot uses an analytical method to plan an obstacle-avoidance path.In order to realize cooperative path planning,a priority scheme is introduced.Different from the other priority methods,the algorithm proposed in this paper is not time-consuming,so it is suitable for dynamic environments.Simulation results are presented to verify the effectiveness of the proposed algorithm.

analytical path planning multiple mobile robot system distributed prioritized scheme

Wentao Yu Jun Peng Xiaoyong Zhang

School of Information Science and Engineering,Central South University,Changsha 410075;Hunan Engineering Laboratory for Advanced Control and Intelligent Automation,Changsha 410075,China

国际会议

The 33th Chinese Control Conference第33届中国控制会议

南京

英文

966-971

2014-07-28(万方平台首次上网日期,不代表论文的发表时间)